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check in a good set of parameters for grasping deformable ball with nonlinear damping force (not as stable as linear damping)

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This commit is contained in:
Xuchen Han
2019-08-15 17:48:36 -07:00
parent aa4d5bda3e
commit c9ab033a8b
5 changed files with 14 additions and 24 deletions
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4
examples/DeformableDemo/DeformableMultibody.cpp
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@@ -219,14 +219,12 @@ void DeformableMultibody::initPhysics()
psb->getCollisionShape()->setMargin(0.25);
psb->generateBendingConstraints(2);
psb->setTotalMass(5);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = .1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.01));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
}

4
examples/DeformableDemo/DeformableRigid.cpp
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@@ -228,14 +228,12 @@ void DeformableRigid::initPhysics()
psb->getCollisionShape()->setMargin(0.1);
psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.05);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.05));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// add a few rigid bodies

16
examples/DeformableDemo/GraspDeformable.cpp
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@@ -339,20 +339,24 @@ void GraspDeformable::initPhysics()
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), path);
// psb->scale(btVector3(30, 30, 30)); // for banana
// psb->scale(btVector3(.2, .2, .2));
psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
psb->scale(btVector3(.25, .25, .25));
// psb->scale(btVector3(.3, .3, .3)); // for tube, torus, boot
// psb->scale(btVector3(1, 1, 1)); // for ditto
// psb->translate(btVector3(0, 0, 2)); for boot
psb->getCollisionShape()->setMargin(0.02);
psb->setTotalMass(.1);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 50;
psb->m_cfg.kDF = 10;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
// nonlinear damping
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(1,0.04, true));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(0,6));
// linear damping
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01, false));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(6,6));
}

8
examples/DeformableDemo/Pinch.cpp
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@@ -331,18 +331,12 @@ void Pinch::initPhysics()
psb->translate(btVector3(0, 4, 0));
psb->getCollisionShape()->setMargin(0.1);
psb->setTotalMass(1);
// psb->scale(btVector3(5, 5, 5));
// psb->translate(btVector3(-2.5, 4, -2.5));
// psb->getCollisionShape()->setMargin(0.1);
// psb->setTotalMass(1);
psb->setSpringStiffness(2);
psb->setDampingCoefficient(0.02);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addSoftBody(psb);
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(2, 0.02));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
// add a grippers
createGrip();

6
examples/DeformableDemo/VolumetricDeformable.cpp
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@@ -230,17 +230,13 @@ void VolumetricDeformable::initPhysics()
getDeformableDynamicsWorld()->addSoftBody(psb);
psb->scale(btVector3(2, 2, 2));
psb->translate(btVector3(0, 5, 0));
// psb->setVolumeMass(10);
psb->getCollisionShape()->setMargin(0.25);
// psb->generateBendingConstraints(2);
psb->setTotalMass(1);
psb->setSpringStiffness(0);
psb->setDampingCoefficient(0.01);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.5;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce());
getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0,0.01));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
getDeformableDynamicsWorld()->addForce(psb, new btDeformableCorotatedForce(.5,.5));
}